CN110036760B - Variable-angle fruit picking mechanism research device and operation method thereof - Google Patents
Variable-angle fruit picking mechanism research device and operation method thereof Download PDFInfo
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- CN110036760B CN110036760B CN201910432083.4A CN201910432083A CN110036760B CN 110036760 B CN110036760 B CN 110036760B CN 201910432083 A CN201910432083 A CN 201910432083A CN 110036760 B CN110036760 B CN 110036760B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Sorting Of Articles (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
- Cultivation Of Plants (AREA)
Abstract
The invention discloses a research device for a variable-angle fruit picking mechanism and an operation method thereof, wherein the research device comprises a branch positioning mechanism, a fruit positioning mechanism, an angle measuring and fixing mechanism and a dynamometer guiding mechanism, wherein the branch positioning mechanism is used for positioning a straight line where a branch is positioned; the fruit positioning mechanism is used for positioning a target to be measured; the angle measuring and fixing mechanism is used for positioning the included angle between the fruit stem and the branch by a specified angle; the dynamometer guiding mechanism is used for measuring the binding force of the fruit stalks and the specified angles of the branches. The invention has complete functions, wide measuring angle range and high positioning precision, can accurately measure the target position, and greatly reduces the measuring error.
Description
Technical Field
The invention relates to a biomechanical characteristic research institution, in particular to a variable-angle fruit picking mechanism research device and an operation method thereof.
Background
The fruit picking angle refers to the angle formed by the fruit stalks and branches when the fruits are separated from the fruit trees in the fruit picking process. Along with the continuous development of science and technology, the mechanized picking of melons, fruits and vegetables becomes the mainstream trend of agricultural engineering development. The method has the advantages that the breaking mechanism of fruits in the picking process is researched, the relation between the binding force and the included angle of fruit stalks and branches in breaking is researched, and the method has important significance for the theoretical design and scheme design of fruit picking machines.
At present, the existing approximation scheme is mainly used for machining and is used for cutting planes, sections and the like with different included angles. To the mechanism that is used for measuring fruit stalk and branch contained angle in the agricultural engineering, most are adjustable angle anchor clamps, carry out the centre gripping to target and branch through dull and stereotyped anchor clamps to realize the measurement of angle.
The above-mentioned adjustable angle anchor clamps mainly have following shortcoming:
(1) The function is single. The bonding force between the fruit stalks and the branches can not be measured while the included angle between the fruit stalks and the branches is measured;
(2) The measuring angle range is small. The existing angle-adjustable clamp has the angle measurement range of 0-45 degrees, and cannot meet the requirement of large-angle measurement;
(3) The positioning accuracy is low. The positioning accuracy of the joint of the target and the branch is low, so that the angle measurement error is large, and the measurement result is influenced.
In view of this, the invention provides a device and a method for researching the variable-angle fruit picking mechanism, which aim to research the influence of different fruit stem branch included angles on the combination force, namely the relation between the combination force and the fruit stem branch included angles. Firstly, the problem of determining the straight line of the branches is solved, and if the position of the straight line of the branches cannot be determined, the included angle between the fruit stalks and the branches cannot be measured; secondly, solving the problem of positioning the straight line where the fruit handle is positioned; finally, the problem of fixing the dynamometer and the device is solved.
Disclosure of Invention
Aiming at the problems, the invention provides a research device for a variable-angle fruit picking mechanism and an operation method thereof.
The technical scheme adopted for solving the technical problems is as follows:
the research device for the variable-angle fruit picking mechanism comprises a branch positioning mechanism, a fruit positioning mechanism, an angle measuring and fixing mechanism and a dynamometer guiding mechanism, wherein
The branch positioning mechanism comprises a cross beam and branch positioning frames, wherein the branch positioning frames are arranged at two ends of the cross beam through fastening bolts and are used for positioning a straight line where a branch is located;
the fruit positioning mechanism comprises a plate-shaped hanging beam and a positioning bolt, one end of the plate-shaped hanging beam is arranged in the middle of the cross beam through a fastening bolt, and the other end of the plate-shaped hanging beam is connected with the angle measuring and fixing mechanism and is used for positioning a target to be measured;
the angle measuring and fixing mechanism comprises a plate-shaped angle measuring instrument and a plate-shaped angle fixing rod which is arranged on the angle measuring instrument and can adjust the angle, wherein the plate-shaped angle measuring instrument is arranged below the cross beam and the plate-shaped hanging beam through a fastening bolt and is used for positioning the included angle between the fruit handle and the branch at a specified angle;
the dynamometer guiding mechanism comprises a dynamometer guiding groove arranged on the plate-shaped fixed angle rod, and the dynamometer guiding groove is matched with the dynamometer guide rod and used for measuring the binding force of the fruit stem and the branch at a specified angle.
As an improvement of the technical scheme, the platy fixed angle rod is provided with a plurality of connecting holes, the inner side connecting holes of the platy fixed angle rod are provided with rotating shafts, the centers of the rotating shafts are coincident with the centers of the positioning bolts, so that the connecting points of the platy fixed angle rod and the fruit stalks are on the same vertical line, and the outer side connecting holes are used for installing and fixing the dynamometer guide grooves.
As an improvement of the technical scheme, the plate-shaped angle fixing rod is provided with an angle fixing stud chute, an angle fixing stud is arranged in the angle fixing stud chute, the angle fixing stud chute comprises a guide groove and a positioning groove, and the angle fixing stud is correspondingly provided with a guide surface and a positioning surface, so that the angle fixing stud chute can slide or lock in the angle fixing stud chute.
As an improvement of the technical scheme, a butterfly nut is arranged above the fixed-angle stud.
As an improvement of the technical scheme, the plate-shaped angle meter is in a semicircular disc shape and comprises scale marks and angle positioning grooves, and the plate-shaped angle fixing rod is installed in the angle positioning grooves with specified angles through butterfly nuts and angle fixing studs.
As an improvement of the technical scheme, a cylindrical supporting rod is arranged below the plate-shaped goniometer and used for supporting the research device.
The invention also provides an operation method of the variable angle fruit picking mechanism research device, which is applied to any one of the variable angle fruit picking mechanism research devices, and specifically comprises the following steps:
step (1), selecting a branch to be detected and a target to be detected on the branch to be detected;
step (2), placing a target to be detected on a branch to be detected near a positioning bolt, and fixing the branch on a branch positioning frame by using a sticky buckle belt so that a target fruit stem is positioned at the side of a plate-shaped goniometer;
step (3), fine tuning is carried out on the branches, so that the connection point of the fruit stalks and the branches and the needle points of the pointers of the positioning bolts are positioned on the same vertical line;
step (4), rotating the plate-shaped fixed angle rod to a specified angle position, and rotating the butterfly nut to lock the position of the plate-shaped fixed angle rod;
and (5) placing the dynamometer guide rod in a dynamometer guide groove, and measuring the binding force of the fruit stalks and the branches at a specified angle.
The beneficial effects brought by the invention are as follows:
the invention is mainly applied to the research on biomechanical characteristics of various melon, fruit and vegetable picking in agricultural engineering, and has the following advantages:
(1) The functions are complete. When the included angle between the fruit stalks and the branches is measured when the fruits and the branches are broken, a dynamometer can be arranged on the mechanism, and the separating force of the fruits and the branches under the included angle is measured;
(2) The measuring angle range is large. In order to study the influence of different fruit stalks and branch included angles on the separating force, the measuring angle range of the invention is 0-80 degrees, and the binding force between the fruit stalks and the branches can be measured at intervals of 10 degrees from the forward branch direction (0 degrees) to the reverse branch direction (180 degrees);
(3) And the positioning precision is high. The locating needle, namely the locating bolt, is arranged above the center of the rotating shaft of the plate-shaped angle fixing rod, so that the target position can be accurately measured, and the measuring error is greatly reduced.
Drawings
The invention will be further described with reference to the accompanying drawings and specific examples,
FIG. 1 is a schematic perspective view of a research device of the present invention;
FIG. 2 is a schematic top view of the research device of the present invention;
FIG. 3 is a schematic cross-sectional view of the research device of the present invention;
FIG. 4 is a schematic view of the structure of the fixed angle stud;
FIG. 5 is a schematic view of a plate-like fixed angle bar;
the label names corresponding to the serial numbers in the figures are as follows:
the device comprises an 11 cross beam, a 12 branch positioning frame, a 21 plate-shaped hanging beam, a 22 positioning bolt, a 31 plate-shaped goniometer, a 32 plate-shaped angle fixing rod, a 321 connecting hole, a 322 guide groove, a 323 positioning groove, a 33 angle fixing stud, a 331 butterfly nut, a 332 guide surface, a 333 positioning surface, a 41 dynamometer guide groove and a 51 cylindrical supporting rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The particular embodiments of the invention depicted in the drawings are illustrative of the invention and are not drawn to scale or exact scale. Accordingly, the drawings in the present invention should not be construed as limiting the invention in any way. The scope of the invention is defined by the claims.
For the sake of brevity and to highlight the invention, only the details particularly relevant to the invention are shown in some of the figures. It should be understood that this manner of illustration does not preclude the presence of other details relating to the present invention. Accordingly, the drawings are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1-3, the variable angle fruit picking mechanism research device comprises a branch positioning mechanism, a fruit positioning mechanism, an angle measuring and fixing mechanism and a dynamometer guiding mechanism, wherein
The branch positioning mechanism comprises a cross beam 11 and a branch positioning frame 12, wherein the branch positioning frame 12 is arranged at two ends of the cross beam 11 through fastening bolts and is used for positioning a straight line where a branch is positioned;
the fruit positioning mechanism comprises a plate-shaped hanging beam 21 and a positioning bolt 22, wherein one end of the plate-shaped hanging beam 21 is arranged in the middle of the cross beam 11 through a fastening bolt, and the other end of the plate-shaped hanging beam is connected with a plate-shaped goniometer 31 of the angle measuring and fixing mechanism through a bolt and is used for positioning a target to be measured;
the angle measuring and fixing mechanism comprises a plate-shaped angle measuring instrument 31 and a plate-shaped angle fixing rod 32 which is arranged on the angle measuring instrument and can adjust the angle, wherein the plate-shaped angle measuring instrument 31 is arranged below the cross beam 11 and the plate-shaped hanging beam 21 through fastening bolts and is used for positioning the included angle between the fruit handle and the branch at a specified angle. The plate-shaped goniometer 31 is in a semicircular disc shape and comprises scale marks and angle positioning grooves, and the plate-shaped angle fixing rod 32 is installed in the angle positioning grooves with specified angles through the butterfly nuts 331 and the angle fixing studs 33.
Specifically, referring to fig. 4 to 5, the plate-shaped angle fixing rod 32 is provided with an angle fixing stud chute, in which the angle fixing stud 33 is installed, the angle fixing stud chute includes a guide groove 322 and a positioning groove 323, and a sliding position at the lower end of the angle fixing stud 33 is correspondingly provided with a guide surface 332 and a positioning surface 333, so that the angle fixing stud chute can slide or lock in the angle fixing stud chute, and a butterfly nut 331 is installed above the angle fixing stud 33, so that the rotation adjustment is facilitated.
When the force measuring angle needs to be changed, the butterfly nut 331 is rotated, so that the guide surface 332 on the fixed angle stud 33 is coplanar with the side surface of the guide groove 322 of the fixed angle stud chute on the plate-shaped fixed angle rod 32, and the fixed angle stud 33 can be pushed to adjust the force measuring angle. When the angle fixing stud 33 is adjusted to the specified angle position, the angle fixing stud 33 is pulled reversely to the angle positioning groove, and the butterfly nut 331 is rotated again, so that the guiding surface 332 on the angle fixing stud 33 is perpendicular to the side surface of the guiding groove 322 of the angle fixing stud chute on the plate-shaped angle fixing rod 32 (or the positioning surface 333 on the angle fixing stud 33 is overlapped with the side surface of the positioning groove 323 on the plate-shaped angle fixing rod 32), and the specified angle of the circumferential position of the plate-shaped angle fixing rod 32 can be locked.
Three connecting holes 321 are formed in the plate-shaped angle fixing rod 32, a rotating shaft is mounted in the connecting hole 321 on the inner side, the center of the rotating shaft coincides with the center of the positioning bolt 22, the center of the rotating shaft is located on the same vertical line with the connecting point of the fruit handle and the branches, and the connecting hole 321 on the outer side is used for mounting and fixing the dynamometer guide groove 41.
The dynamometer guiding mechanism comprises a dynamometer guiding groove 41 arranged on the plate-shaped angle fixing rod 32, and the dynamometer guiding groove 41 is matched with the dynamometer guide rod and used for measuring the binding force of the fruit stalks and the specified angles of the branches.
A cylindrical support rod 51 is mounted below the plate goniometer 31 for supporting the subject research device.
The variable angle fruit picking mechanism research device of the embodiment has the advantages that:
1. and determining the straight line of the branches. When the included angle between the fruit stem and the branches is measured, the position of the straight line where the branches are positioned is determined, and the method is the basis for measuring the included angle. At present, the existing multi-angle measuring clamp cannot accurately position the straight line position of the branch. In this embodiment, the principle that two points determine a straight line is utilized, and the fastening tapes are used to fix the branches on the branch positioning frames 12 at symmetrical positions, so that the positions of the straight lines where the branches are located are accurately determined.
2. And determining the straight line where the fruit stem is positioned. For direct measurement in angle measurement, to determine the angle between the fruit stem and the branch, the straight line where the fruit stem is must be determined. At present, the existing multi-angle measuring clamp cannot accurately position the straight line where the fruit stem is located. According to the embodiment, the characteristic that the fruit stalks of the plants such as the medlar and the Lingwu jujubes are softer is utilized, when the straight line position of the fruit stalks is determined, the guide rod of the dynamometer is fixed at the root parts of the fruit stalks, the fruit stalks are tensioned to be horizontal through the dynamometer in the force measuring process, and at the moment, the connection part of the root parts of the fruit stalks and the branches can form a straight line, namely the straight line of the fruit stalks. The straight line of the fruit stem is determined in the angle measurement process, namely the straight line of the determined root of the fruit stem and two points of the joint of the fruit stem and the branches.
3. And determining the connection position of the fruit stalks and the branches. For angle measurement, determining the intersection of two rays is the basis. The present embodiment proposes an intersection positioning method, which searches for the connection position of the fruit stem and the branch through the plate-shaped fixed angle rod 32, and is convenient and simple to operate.
4. And the force measurement and the angle measurement are completed simultaneously. The embodiment is combined with a corresponding dynamometer, so that the angle measurement can be completed, and the separation force of the fruit stalks and the branches at the designated angle can be also completed.
Example 2
The present embodiment provides a method of operating a variable angle fruit picking mechanism study device, which is applied to the variable angle fruit picking mechanism study device in embodiment 1, specifically including:
step (1), selecting a branch to be detected and a target to be detected on the branch to be detected;
step (2), placing a target to be detected on a branch to be detected near the positioning bolt 22, and fixing the branch on the branch positioning frame 12 by using a fastening tape so that a target fruit stem is positioned on the side of the plate-shaped goniometer 31;
step (3), fine tuning is carried out on the branches, so that the connection point of the fruit stalks and the branches and the needle points of the pointers of the positioning bolts 22 are positioned on the same vertical line;
step (4), rotating the plate-shaped fixed angle rod 32 to a specified angle position, and rotating the butterfly nut 331 to lock the position of the plate-shaped fixed angle rod 32;
and (5) placing the dynamometer guide rod in the dynamometer guide groove 41, and measuring the binding force of the fruit stalks and the branches at a specified angle, wherein the dynamometer adopts an HF-2 dynamometer.
The foregoing describes the embodiments of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (5)
1. Variable angle fruit picking mechanism research device, its characterized in that: comprises a branch positioning mechanism, a fruit positioning mechanism, an angle measuring and fixing mechanism and a dynamometer guiding mechanism, wherein
The branch positioning mechanism comprises a cross beam and branch positioning frames, wherein the branch positioning frames are arranged at two ends of the cross beam through fastening bolts and are used for positioning a straight line where a branch is located;
the fruit positioning mechanism comprises a plate-shaped hanging beam and a positioning bolt, one end of the plate-shaped hanging beam is arranged in the middle of the cross beam through a fastening bolt, and the other end of the plate-shaped hanging beam is connected with the angle measuring and fixing mechanism and is used for positioning a target to be measured;
the angle measuring and fixing mechanism comprises a plate-shaped angle measuring instrument and a plate-shaped angle fixing rod which is arranged on the angle measuring instrument and can adjust the angle, wherein the plate-shaped angle measuring instrument is arranged below the cross beam and the plate-shaped hanging beam through a fastening bolt and is used for positioning the included angle between the fruit handle and the branch at a specified angle;
the dynamometer guide mechanism comprises a dynamometer guide groove arranged on the platy fixed angle rod, and the dynamometer guide groove is matched with the dynamometer guide rod and is used for measuring the binding force of the fruit stalks and the branches at a specified angle;
the platy angle fixing rod is provided with a plurality of connecting holes, the connecting holes on the inner side of the platy angle fixing rod are provided with rotating shafts, the centers of the rotating shafts are coincident with the centers of the positioning bolts, so that the connecting points of the platy angle fixing rod, the fruit stalks and the branches are on the same vertical line, and the connecting holes on the outer side are used for installing and fixing the guide grooves of the dynamometer;
and a cylindrical supporting rod is arranged below the plate-shaped goniometer and is used for supporting the research device.
2. The variable angle fruit picking mechanism study device of claim 1, wherein: the plate-shaped angle fixing rod is provided with an angle fixing stud chute, an angle fixing stud is arranged in the angle fixing stud chute, the angle fixing stud chute comprises a guide groove and a positioning groove, and the angle fixing stud is correspondingly provided with a guide surface and a positioning surface, so that the angle fixing stud can slide or lock in the angle fixing stud chute.
3. The variable angle fruit picking mechanism study device of claim 2, wherein: and a butterfly nut is arranged above the fixed-angle stud.
4. A variable angle fruit picking mechanism study apparatus as claimed in claim 3, wherein: the plate-shaped angle meter is in a semicircular disc shape and comprises scale marks and angle positioning grooves, and the plate-shaped angle fixing rod is installed in the angle positioning grooves with specified angles through butterfly nuts and angle fixing studs.
5. The operation method of the variable angle fruit picking mechanism research device is characterized in that: the method is applied to the variable angle fruit picking mechanism research device as claimed in any one of claims 1 to 4, and specifically comprises the following steps:
step (1), selecting a branch to be detected and a target to be detected on the branch to be detected;
step (2), placing a target to be detected on a branch to be detected near a positioning bolt, and fixing the branch on a branch positioning frame by using a sticky buckle belt so that a target fruit stem is positioned at the side of a plate-shaped goniometer;
step (3), fine tuning is carried out on the branches, so that the connection point of the fruit stalks and the branches and the needle points of the pointers of the positioning bolts are positioned on the same vertical line;
step (4), rotating the plate-shaped fixed angle rod to a specified angle position, and rotating the butterfly nut to lock the position of the plate-shaped fixed angle rod;
and (5) placing the dynamometer guide rod in a dynamometer guide groove, and measuring the binding force of the fruit stalks and the branches at a specified angle.
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| CN201910432083.4A CN110036760B (en) | 2019-05-23 | 2019-05-23 | Variable-angle fruit picking mechanism research device and operation method thereof |
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| CN201910432083.4A CN110036760B (en) | 2019-05-23 | 2019-05-23 | Variable-angle fruit picking mechanism research device and operation method thereof |
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| CN110036760B true CN110036760B (en) | 2023-10-20 |
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